![]() ![]() ![]() O braço robótico que serve de objeto de estudo neste trabalho consiste de um manipulador revoluto com três juntas rotativas e três graus de liberdade em configuração Torcional-Rotacional-Rotacional (TRR) movendo-se no espaço. Atividades robóticas de serviços em órbita têm se tornado comuns devido ao surgimento de novas tecnologias na área de docking e berthing. O estudo realizado sugere que a elaboração de modelos que contemplem a correção dinâmica de erros de posição promove ganhos significativos em missões desse tipo. Resumo: No trabalho é analisada a possibilidade de aplicação de um sistema robótico em ambiente espacial, levando em consideração as perturbações causadas à atitude, decorrentes de torques gerados pelo acionamento dos mecanismos robóticos na fase de docking ou berthing entre satélites artificiais. This paper presents the description of the PROPAT conception, as well as some simulations performed with this package, including the design of the attitude control system of the CubeSat NBR-2 and the CONASAT constellation satellites. The PROPAT package has being employed at INPE (National Institute for Space Research, in Brazil) for attitude control simulation and orbit and attitude analysis. ![]() Several functions to compute coordinate transformation and ephemeris calculation were included into the package, both for orbital elements (state vector, Keplerian elements or geocentric coordinates) and attitude (Euler angles, quaternion, cosine directors matrix, and Euler's axis and angle), among others. Also available are functions to compute the position of the Sun relative to Earth, the geomagnetic field in a given satellite position, the Greenwich sidereal time and a function to check if the satellite is in the Earth shadow. Nutation dampers and reaction wheels can be easily added to the rigid body dynamics. The package includes an analytical orbit propagator, allied to a numerical attitude propagator. Following these guidelines, the PROPAT package of Matlab functions has been developed, to simulate Earth's satellites orbit and attitude. These facts suggest that Matlab has to be considered as a promising host for any simulation module, which reinforces the necessity of reliable simulation packages written in this language. Although interpreted languages, like Matlab, are still slow when compared with compiled ones (Fortran and C, for instance), the number of real-time applications with Matlab has increased over time, due mainly its intrinsic ability to handle matrices and the large amount of libraries, toolboxes and ready-to-use applications for both Matlab and Simulink. In recent years computer simulation has evolved to accomplish to newer and better technologies, taking the benefit of fast computers, multi core processors and new visualization tools, not to mention new paradigm in man-machine interfaces. ![]()
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